JP2023036278A - remote parking device - Google Patents

Abstract

To provide a remote parking device that can surely determine absence of abnormality in a braking device before executing traveling of an own vehicle by remote parking control.SOLUTION: A remote parking device 10 controls operation of a driving device 21 that applies driving force to an own vehicle 100 and operation of a braking device 22 that applies braking force to the own vehicle, and executes remote parking control that automatically controls the operation of the driving device and of the braking device in response to an instruction from the outside of the own vehicle, so as to park the own vehicle at a designated parking lot 301D. The remote parking device executes braking/driving processing for applying driving force from the driving device to the own vehicle while applying braking force from the braking device to the own vehicle before executing traveling of the own vehicle by the remote parking control, and executes traveling of the own vehicle by the remote parking control when the own vehicle is maintained in a stationary state, until a predetermined time elapses after starting the braking/driving processing.SELECTED DRAWING: Figure 16

Description

The present invention relates to remote parking devices.

Remote parking that executes remote parking control to automatically control the driving force and braking force applied to the own vehicle in response to a command wirelessly issued from an operation terminal such as a mobile terminal to park the own vehicle in a designated parking space. devices are known.

Further, if there is an abnormality in the braking device that applies the braking force to the own vehicle, for example, even if an obstacle is detected in the course of the own vehicle during the execution of the remote parking control and an attempt is made to brake the own vehicle, the own vehicle will be sufficiently slowed down. Therefore, it is determined whether there is an abnormality in the braking device before running the vehicle under remote parking control, and if it is determined that there is no abnormality in the braking device. There is also known a remote parking device that runs the own vehicle only by remote parking control (see, for example, Patent Literature 1). In such a conventional remote parking system, it is determined whether or not there is an abnormality in an electric system or the like that supplies electric power necessary for operating the braking system before the host vehicle travels under remote parking control.

German Patent No. 102015209976

As described above, in the conventional remote parking device, it is determined whether or not there is an abnormality in the braking device before the host vehicle travels under remote parking control. Of the causes that cause the braking function of the braking system to be abnormal, this is to determine the abnormality of the braking function of the braking system due to some of the causes such as abnormalities in the electrical system. Even if it is determined that there is no abnormality, the braking function of the braking device may be abnormal due to another cause. Therefore, before running the own vehicle by remote parking control, it is necessary to determine whether there is an abnormality in the braking function of the braking device caused by a wider range of causes, and to reliably determine that there is no abnormality in the braking capacity of the braking device. is desired.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a remote parking device that can reliably determine that there is no abnormality in the braking function of the braking device before the host vehicle travels under remote parking control.

In the remote parking device according to the present invention, the operation of a driving device for applying a driving force to the own vehicle for running the own vehicle, and the operation of a braking device for applying a braking force to the own vehicle for braking the own vehicle. , and automatically controls the operation of the driving device and the braking device in response to a command from the outside of the own vehicle to execute remote parking control for parking the own vehicle in a designated parking place. . In the remote parking device according to the present invention, before the host vehicle is driven by the remote parking control, the braking device applies the braking force to the host vehicle and the drive device applies the driving force to the host vehicle. If the vehicle is maintained in a stopped state for a predetermined period of time from the start of the drive process and the start of the brake drive process, the vehicle is driven by the remote parking control. is configured as

According to the remote parking device of the present invention, when the own vehicle is maintained in a stopped state for a predetermined time even after the braking drive process is executed, the own vehicle travels by the remote parking control. That is, when the vehicle is maintained in a stopped state even after the braking drive process is executed, it is determined that there is no abnormality in the braking function of the braking device for the vehicle, and the vehicle is driven by the remote parking control. . As described above, according to the remote parking device according to the present invention, not only is there an abnormality in the braking function of the braking device caused by an abnormality in the electrical system required for the operation of the braking device, but also, for example, the braking device can Abnormalities in the braking function of the braking system due to wear of the brake pads, etc., which are difficult to detect when they are composed of parts, and braking functions of the braking system due to overloading of the own vehicle. can also be determined. Therefore, it is possible to reliably determine that there is no abnormality in the braking function of the braking device before the host vehicle travels under the remote parking control.

The remote parking device according to the present invention may be configured to control the operation of a vehicle stop holding device that holds the own vehicle in a stopped state. In this case, the remote parking device according to the present invention is arranged such that when the own vehicle runs without being maintained in a stopped state during the predetermined time after the start of the braking drive process, the vehicle stop holding device is configured to hold the own vehicle in a stopped state.

According to this, if the own vehicle is not maintained in the stopped state before the predetermined time elapses when the braking drive process is executed, the own vehicle is maintained in the stopped state. That is, when the vehicle is not maintained in a stopped state before the predetermined time elapses when the braking drive process is executed, it is determined that there is an abnormality in the braking function of the braking device for the vehicle, and the vehicle is stopped. state. Therefore, when there is an abnormality in the braking function of the braking device for the own vehicle, it is possible to prevent the own vehicle from traveling by the remote parking control.

The components of the invention are not limited to the embodiments of the invention described below with reference to the drawings. Other objects, features and attendant advantages of the present invention will be readily apparent from the description of the embodiments of the present invention.

FIG. 1 is a diagram showing a remote parking device according to an embodiment of the present invention and a vehicle (self-vehicle) equipped with the remote parking device. FIG. 2 is a diagram showing a remote travel system including a remote parking device and an operation terminal according to an embodiment of the present invention. FIG. 3 is a diagram showing a remote control device according to an embodiment of the present invention and an operation terminal equipped with the remote control device. FIG. 4 is a diagram showing a scene in which the own vehicle has stopped near the parking space. FIG. 5 is a diagram showing a target travel route in remote parking control. FIG. 6 is a diagram showing a scene in which the own vehicle moves forward while turning right under remote parking control. FIG. 7 is a diagram showing a scene in which the host vehicle moves backward while turning left under remote parking control. FIG. 8 is a diagram showing a scene in which the own vehicle is straightly reversed by remote parking control. FIG. 9 is a diagram showing a scene in which parking of the own vehicle in the designated parking place by remote parking control is completed. FIG. 10 is a diagram showing a target travel route in remote garage leaving control. FIG. 11 is a diagram showing a scene in which the host vehicle moves straight forward under remote garage exit control. FIG. 12 is a diagram showing a scene in which the host vehicle moves forward while turning left under remote garage exit control. FIG. 13 is a diagram showing a state when the vehicle has finished leaving the designated parking place under the remote parking control. FIG. 14 is a flow chart showing a routine executed by the remote parking device according to the embodiment of the invention. FIG. 15 is a flow chart showing a routine executed by the remote parking device according to the embodiment of the invention. FIG. 16 is a flow chart showing a routine executed by the remote parking device according to the embodiment of the invention. FIG. 17 is a flow chart showing a routine executed by the remote parking device according to the embodiment of the invention. FIG. 18 is a flow chart showing a routine executed by the remote parking device according to the embodiment of the invention. FIG. 19 is a flow chart showing a routine executed by the remote parking device according to the embodiment of the invention.

A remote parking device according to an embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a remote parking device 10 according to an embodiment of the present invention is mounted on a vehicle (self-vehicle) 100. As shown in FIG.

The remote parking device 10 automatically causes the own vehicle 100 to travel in response to a command (command signal) wirelessly transmitted from the outside of the own vehicle 100 and automatically stops at a designated location (designated parking location). It is a device that executes remote driving control including remote parking control for parking the own vehicle 100 in a designated parking place. In addition to remote parking control (remote parking control), the remote travel control in this example automatically travels the vehicle 100 parked in the parking space from the parking space to the outside of the parking space, although the details will be described later. It also includes a remote parking exit control that allows the host vehicle 100 to exit from the parking location by automatically stopping at a designated location (designated parking location).

Further, as shown in FIG. 2, in this example, the remote parking device 10 receives a command (command signal) transmitted by radio from an operation terminal 200 such as a mobile phone, and responds to the received command. In response, it performs remote cruise control, including remote parking control.

As shown in FIG. 1, the remote parking device 10 includes a vehicle ECU 90. As shown in FIG. The vehicle ECU 90 has a microcomputer as its main part. The vehicle ECU 90 includes a CPU (vehicle CPU 91), ROM, RAM, nonvolatile memory, an interface, and the like. The vehicle CPU 91 implements various functions by executing instructions (programs, routines) stored in the ROM. In particular, the vehicle ECU 90 stores a program for executing remote parking control and remote parking control.

<Vehicle running device>
A vehicle traveling device 20 is mounted on the own vehicle 100 . The vehicle running device 20 is a device that drives, brakes, and steers the host vehicle 100, and includes a driving device 21, a braking device 22, a steering device 23, and a transmission device 24 in this example.

<Driving device>
The driving device 21 is a device that outputs a driving force applied to the own vehicle 100 to make the own vehicle 100 run, and is, for example, an internal combustion engine and/or a motor. The drive device 21 is electrically connected to the vehicle ECU 90 . The vehicle ECU 90 can control the driving force output from the drive device 21 by controlling the operation of the drive device 21 .

<Brake device>
The braking device 22 is a device that outputs a braking force applied to the vehicle 100 to brake the vehicle 100, and is, for example, a hydraulic braking device. The braking device 22 is electrically connected to the vehicle ECU 90 . The vehicle ECU 90 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22 .

<Steering device>
The steering device 23 is a device that outputs a steering force applied to the vehicle 100 to steer the vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the vehicle ECU 90 . The vehicle ECU 90 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23 .

<Transmission device>
The transmission device 24 switches whether to transmit the driving force output from the driving device 21 to the driving wheels of the vehicle 100, transmits the driving force to the driving wheels so as to move the vehicle 100 forward, or transmits the driving force to the driving wheels. It is a device for switching whether to transmit the driving force to the driving wheels so as to move the vehicle 100 backward. Furthermore, the transmission device 24 is a device that holds the own vehicle 100 in a stopped state by locking the gears so that the gears of the transmission device 24 are not rotated by hooking claw-shaped parts (parking lock poles). But also. Therefore, the transmission device 24 also functions as a vehicle stop holding device that holds the own vehicle 100 in a stopped state.

The transmission device 24 is in a state in which the driving force is transmitted to the driving wheels so as to move the vehicle 100 forward (drive range state SD), and in a state in which the driving force is transmitted to the driving wheels so as to move the vehicle 100 backward (rearrange state SD). SR), a state in which the driving force is not transmitted to the driving wheels of the vehicle 100 (neutral range state SN), and a state in which the vehicle 100 is held stationary (parking range state SP).

The transmission device 24 is electrically connected to the vehicle ECU 90 . The vehicle ECU 90 can set the transmission device 24 to any one of the drive range state SD, the rearrange state SR, the neutral range state SN, and the parking range state SP by controlling the operation of the transmission device 24 .

<Stop holding device>
Further, the own vehicle 100 is equipped with a vehicle stop holding device 30 . The vehicle stop holding device 30 is a device that holds the own vehicle 100 in a stopped state, and is a parking brake device 31 in this example. The parking brake device 31 may be an electric parking brake device or a manual parking brake device. The parking brake device 31 is a device that applies a braking force to the wheels of the stopped vehicle 100 to keep the vehicle 100 stopped. In particular, the parking brake device 31 is a device for holding the vehicle 100 in a stopped state by applying a braking force to the wheels by pressing the brake pads against the brake discs provided on the wheels of the stopped vehicle 100 . be. In this example, the parking brake device 31 is an electric parking brake device and is therefore electrically connected to the vehicle ECU 90 . The vehicle ECU 90 can hold the own vehicle 100 in a stopped state by operating the parking brake device 31 .

<Sensors, etc.>
Further, the vehicle 100 includes an accelerator pedal 41 , an accelerator pedal operation amount sensor 42 , a brake pedal 43 , a brake pedal operation amount sensor 44 , a steering wheel 45 , a steering shaft 46 , a steering angle sensor 47 , a steering torque sensor 48 , a shift lever 51 . , a shift sensor 52, a vehicle speed detection device 60, a peripheral information detection device 70, and a vehicle transmission/reception device 80 are mounted.

<Accelerator pedal operation amount sensor>
The accelerator pedal operation amount sensor 42 is a sensor that detects the amount of operation of the accelerator pedal 41 . The accelerator pedal operation amount sensor 42 is electrically connected to the vehicle ECU 90 . The accelerator pedal operation amount sensor 42 transmits information on the detected operation amount of the accelerator pedal 41 to the vehicle ECU 90 . The vehicle ECU 90 acquires the operation amount of the accelerator pedal 41 as the accelerator pedal operation amount AP based on the information.

The vehicle ECU 90 calculates the required driving force (required driving torque) based on the accelerator pedal operation amount AP and the running speed of the own vehicle 100 (own vehicle speed), except when executing remote parking control or remote parking control, which will be described later. get. The vehicle ECU 90 controls the operation of the driving device 21 so that the required driving force is output. Further, when executing remote parking control or remote parking exit control, which will be described later, the vehicle ECU 90 determines the driving force required to cause the vehicle 100 to travel as desired by the remote parking control or the remote parking exit control. The operation of the driving device 21 is controlled so that the driving force is output.

<Brake pedal operation amount sensor>
The brake pedal operation amount sensor 44 is a sensor that detects the amount of operation of the brake pedal 43 . The brake pedal operation amount sensor 44 is electrically connected to the vehicle ECU 90 . The brake pedal operation amount sensor 44 transmits information on the detected operation amount of the brake pedal 43 to the vehicle ECU 90 . The vehicle ECU 90 acquires the operation amount of the brake pedal 43 as the brake pedal operation amount BP based on the information.

The vehicle ECU 90 obtains the required braking force (required braking torque) from the brake pedal operation amount BP by calculation, except when remote parking control or remote parking control, which will be described later, is executed. The vehicle ECU 90 controls the operation of the braking device 22 so that the required braking force is output. Further, when executing remote parking control or remote parking exit control, which will be described later, the vehicle ECU 90 determines a braking force required to brake the host vehicle 100 as desired by the remote parking control or the remote parking exit control. The operation of the braking device 22 is controlled so that the braking force is output.

<Steering angle sensor>
The steering angle sensor 47 is a sensor that detects the rotation angle of the steering shaft 46 with respect to the neutral position, and is electrically connected to the vehicle ECU 90 . The steering angle sensor 47 transmits information on the detected rotation angle of the steering shaft 46 to the vehicle ECU 90 . The vehicle ECU 90 acquires the rotation angle of the steering shaft 46 as the steering angle θ based on the information.

<Steering torque sensor>
The steering torque sensor 48 is a sensor that detects torque input to the steering shaft 46 by the driver DR of the own vehicle 100 via the steering wheel 45 and is electrically connected to the vehicle ECU 90 . The steering torque sensor 48 transmits information on the detected torque to the vehicle ECU 90 . Based on the information, the vehicle ECU 90 obtains the torque input by the driver DR to the steering shaft 46 via the steering wheel 45 (driver input torque).

The vehicle ECU 90 determines the required steering force (required steering torque) based on the steering angle θ, the driver input torque, and the running speed of the own vehicle 100 (own vehicle speed), except when remote parking control or remote parking control, which will be described later, is executed. The operation of the steering device 23 is controlled so that the requested steering torque is output from the steering device 23 . Further, when executing remote parking control or remote garage exit control, which will be described later, the vehicle ECU 90 determines the steering force required to cause the vehicle 100 to travel as desired by the remote parking control or the remote garage exit control. The operation of the steering device 23 is controlled so that the steering force is output.

<Shift sensor>
The shift sensor 52 is a device that detects the set position of the shift lever 51 . The shift lever 51 is a device operated by the driver DR of the vehicle 100, and the set positions of the shift lever 51 that can be set by the driver DR are a forward position (drive range D) and a reverse position (rear range R). , a neutral position (neutral range N) and a parked position (parking range P). The shift sensor 52 is electrically connected to the vehicle ECU 90 . The shift sensor 52 transmits a signal indicating the detected set position of the shift lever 51 to the vehicle ECU 90 .

When the shift lever 51 is set to the drive range D, the shift sensor 52 transmits a signal indicating that the set position of the shift lever 51 is the drive range D to the vehicle ECU 90 . Upon receiving the signal, the vehicle ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the drive range state SD.

Further, when the shift lever 51 is set to the rear range R, the shift sensor 52 transmits a signal indicating that the set position of the shift lever 51 is the rear range R to the vehicle ECU 90 . Upon receiving the signal, the vehicle ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the rearrange state SR.

Further, when the shift lever 51 is set to the neutral range N, the shift sensor 52 transmits a signal indicating that the set position of the shift lever 51 is the neutral range N to the vehicle ECU 90 . Upon receiving the signal, the vehicle ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the neutral range state SN.

Further, when the shift lever 51 is set to the parking range P, the shift sensor 52 transmits a signal indicating that the set position of the shift lever 51 is the parking range P to the vehicle ECU 90 . Upon receiving the signal, the vehicle ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the parking range state SP.

<Vehicle speed detector>
The vehicle speed detection device 60 is a device that detects the traveling speed of the own vehicle 100, and is, for example, a wheel speed sensor. Vehicle speed detection device 60 is electrically connected to vehicle ECU 90 . The vehicle speed detection device 60 transmits the detected traveling speed information of the own vehicle 100 to the vehicle ECU 90 . The vehicle ECU 90 acquires the traveling speed of the own vehicle 100 (own vehicle speed V) based on the information.

<Peripheral information detector>
The peripheral information detection device 70 is a device that detects information around the vehicle 100 , and includes a radio wave sensor 71 and an image sensor 72 in this example.

<Radio wave sensor>
The radio wave sensor 71 is a sensor that uses radio waves to detect information about objects existing in the vicinity of the vehicle 100. For example, a radar sensor (millimeter wave radar, etc.), an ultrasonic wave sensor (clearance sonar), etc. At least one optical sensor, such as a laser radar (LiDAR). The radio wave sensor 71 is electrically connected to the vehicle ECU 90 . The radio wave sensor 71 transmits radio waves and receives radio waves reflected by an object (reflected waves). The radio wave sensor 71 transmits to the vehicle ECU 90 information related to the transmitted radio wave and the received radio wave (reflected wave). In other words, the radio wave sensor 71 detects an object existing around the vehicle 100 and transmits information about the detected object to the vehicle ECU 90 . The vehicle ECU 90 can acquire information (periphery detection information IS) related to objects present in the vicinity of the vehicle 100 based on the information (radio wave information IR). Objects detected using the radio wave sensor 71 are, for example, vehicles, walls, bicycles, and people.

<Image sensor>
The image sensor 72 is a sensor that captures an image of the surroundings of the vehicle 100, such as a camera. Image sensor 72 is electrically connected to vehicle ECU 90 . The image sensor 72 captures an image of the surroundings of the own vehicle 100 and transmits information related to the captured image to the vehicle ECU 90 . The vehicle ECU 90 can acquire information (surroundings detection information IS) about the surroundings of the vehicle 100 based on the information (camera image information IC).

<Vehicle transmitter/receiver>
The vehicle receiving/transmitting device 80 is a device that receives a radio signal coming from outside the own vehicle 100 and transmits a radio signal to the outside of the own vehicle 100 . Vehicle transmitting/receiving device 80 is electrically connected to vehicle ECU 90 . The vehicle ECU 90 can transmit various signals to the outside of the vehicle 100 via the vehicle transmission/reception device 80 . In addition, the vehicle ECU 90 can receive, via the vehicle receiver/transmitter 80, various signals wirelessly transmitted to the outside of the operation terminal 200 via the terminal receiver/transmitter 280 by a terminal ECU 290, which will be described later.

<Operation terminal>
In this example, the operation terminal 200 is a so-called smart phone, which is a phone that can be carried by a person. For example, it may be a so-called smart key that can be carried by a person, a terminal dedicated to remote parking, or the like.

As shown in FIG. 3, the operation terminal 200 is equipped with a remote control device 210 . The remote control device 210 has a terminal ECU 290 .

ECU is an abbreviation for electronic control unit. The terminal ECU 290 has a microcomputer as its main part. The terminal ECU 290 includes a CPU (terminal CPU 291), ROM, RAM, nonvolatile memory, an interface, and the like. The terminal CPU 291 implements various functions by executing instructions (programs, routines) stored in the ROM. In particular, the terminal ECU 290 is installed with remote driving application software (remote driving application) for causing the ECU (vehicle ECU 90) of the own vehicle 100 to perform remote driving control, which will be described later.

The operation terminal 200 also includes a display 220 and a terminal transmission/reception device 280 .

The display 220 is a device that displays various images. Also, the display 220 is made such that when an object contacts the display 220, certain physical properties change. In particular, in this example, the display 220 is made to change a specific physical property by touching the display 220 with a human finger.

Display 220 is electrically connected to terminal ECU 290 . The terminal ECU 290 can display various images on the display 220 . In addition, the terminal ECU 290 detects a change in a specific physical property of the display 220 when an object touches the display 220, and identifies the portion of the display 220 (position on the display 220) where the object touches based on the detected change. can do.

Since the terminal ECU 290 can identify the portion of the display 220 that has come into contact with an object based on changes in specific physical properties of the display 220, the display 220 provides information for identifying the portion that has come into contact with the object. It is a device (contact information providing device). In this example, the contact information providing device is the display 220, but is not limited to this, and any device capable of providing information for specifying the part touched by an object, for example, has a function of displaying an image. It may be a device that does not have a contact but is capable of providing information for specifying the part that the object touches.

The terminal receiver/transmitter 280 is a device that receives radio signals coming from outside the operation terminal 200 and transmits radio signals to the outside of the operation terminal 200 . The terminal transmitter/receiver 280 is electrically connected to the terminal ECU 290 . The terminal ECU 290 can wirelessly transmit various signals to the outside of the operation terminal 200 via the terminal transmitter/receiver 280 . In addition, the terminal ECU 290 can receive, via the terminal receiver/transmitter 280, various signals that the ECU (vehicle ECU 90) of the vehicle 100 wirelessly transmits to the outside of the vehicle 100 via the vehicle receiver/transmitter 80. .

<Outline of operation of remote parking device>
Next, an outline of the operation of the remote parking device 10 will be described. As described above, the remote parking device 10 is configured to perform remote parking control and remote parking control. First, the remote parking control will be explained.

When a predetermined touch operation for activating the remote travel app is applied to display 220 of operation terminal 200 , terminal ECU 290 activates the remote travel app and displays a predetermined image on display 220 . In this example, the touch operation is an operation (contact operation) in which the user of the operation terminal 200 touches the display 220 with a finger.

Further, when a predetermined touch operation for starting the remote travel application is applied to the display 220, the terminal ECU 290 wirelessly transmits an application start signal to the outside. The application activation signal is a signal representing information such as an ID for identifying operation terminal 200 .

Upon receiving the application activation signal, vehicle ECU 90 performs terminal authentication processing to determine whether or not operation terminal 200 indicated by the application activation signal is a registered operation terminal. The registered operation terminal is an operation terminal registered in the vehicle ECU 90 as an operation terminal for causing the vehicle ECU 90 to perform remote travel control.

Since operation terminal 200 is a registered operation terminal, vehicle ECU 90 determines that operation terminal 200 is a registered operation terminal through terminal authentication processing. In this case, the vehicle ECU 90 thereafter executes remote travel control in response to various signals transmitted by radio from the operation terminal 200 to the outside.

<Remote parking control>
Furthermore, when a predetermined touch operation for requesting execution of remote parking control is applied to the display 220 while the remote travel application is running, the terminal ECU 290 wirelessly transmits a remote parking request signal to the outside. The remote parking request signal is a signal requesting the vehicle ECU 90 to execute remote parking control.

When the vehicle ECU 90 receives the remote parking request signal, the vehicle ECU 90 executes braking function confirmation processing for determining whether or not there is an abnormality in the braking function of the braking device 22 for the own vehicle 100 . When the vehicle ECU 90 starts the braking function confirmation process, the vehicle ECU 90 controls the operation of the braking device 22 so that the braking force is applied to the vehicle 100 from the braking device 22, and the driving force is applied to the vehicle 100 from the driving device 21. Braking drive processing for controlling the operation of the drive device 21 and the transmission device 24 is executed as follows.

After starting the braking drive process, the vehicle ECU 90 determines whether or not the host vehicle 100 is maintained in a stopped state. In this example, the vehicle ECU 90 determines based on the vehicle speed V whether or not the vehicle 100 is kept stopped. When the own vehicle speed V is zero, the vehicle ECU 90 determines that the own vehicle 100 is maintained in a stopped state. It is determined that it is not maintained at

When the vehicle ECU 90 determines that the vehicle 100 is not maintained in a stopped state before the elapsed time (elapsed time T) from the start of the braking drive process reaches the predetermined time Tth, the vehicle ECU 90 activates the braking device for the vehicle 100. 22 is determined to be abnormal.

When the vehicle ECU 90 determines that there is an abnormality in the braking function of the braking device 22 for the own vehicle 100, the vehicle ECU 90 stops the remote parking control after executing the stop state holding process. In this example, the stopped state holding process operates the parking brake device 31 to hold the own vehicle 100 in a stopped state, or controls the operation of the transmission device 24 so that the transmission device 24 is in the parking range state SP. This is a process for holding the own vehicle 100 in a stopped state. Further, when the remote parking control is stopped, the vehicle ECU 90 may wirelessly transmit a signal indicating that the remote parking control has been stopped to the outside of the own vehicle 100 . In this case, terminal ECU 290 may receive the signal and display on display 220 an image indicating that the remote parking control has been stopped in response to the signal.

On the other hand, if the vehicle ECU 90 continues to determine that the host vehicle 100 is maintained in the stopped state until the elapsed time (elapsed time T) after starting the braking drive process reaches the predetermined time Tth, the vehicle ECU 90 It is determined that the braking function of the braking device 22 is normal.

When the vehicle ECU 90 determines that there is no abnormality in the braking function of the braking device 22 with respect to the own vehicle 100, the vehicle ECU 90 starts the target travel route setting process. The target travel route setting process in remote parking control is performed as follows.

For example, when the vehicle ECU 90 starts the target travel route setting process when the parking space 301 in which the vehicle 100 is to be parked is located on the left side of the vehicle 100 as shown in FIG. Objects such as a parking space 301 in which the own vehicle 100 is parked, a wall 303 around the own vehicle 100 and an adjacent parked vehicle 300, and division lines 302 provided on the surrounding ground are recognized based on the IS. In this example, the adjacent parked vehicle 300 is another vehicle parked in a parking space to the right or left of the parking space 301 in which the host vehicle 100 is to be parked.

The vehicle ECU 90 sets the recognized parking space 301 as the designated parking place 301D, and as shown in FIG. A travel route of the own vehicle 100 for parking is set as a target travel route Rtgt.

After setting the target travel route Rtgt, the vehicle ECU 90 starts the parking travel process. When the vehicle ECU 90 starts the parking travel process and receives a travel permission signal from the terminal ECU 290, the vehicle ECU 90 controls the operation of the vehicle travel device 20 to travel the own vehicle 100 along the target travel route Rtgt. Specifically, as shown in FIG. 6, the vehicle ECU 90 first moves the host vehicle 100 forward while turning right, and stops the vehicle 100 when it moves forward by a predetermined distance. Next, as shown in FIG. 7, the vehicle ECU 90 reverses the host vehicle 100 while turning left, gradually decreasing the steering angle θ so that the longitudinal direction of the host vehicle 100 is aligned with the designated parking spot 301D. The host vehicle 100 is steered so that the steering angle θ becomes zero when parallel to the direction. After that, the vehicle ECU 90 causes the host vehicle 100 to move backward in a straight line, as shown in FIG.

Note that the terminal ECU 290 wirelessly transmits a travel permission signal to the outside while the user is performing a predetermined touch operation on the display 220 .

Then, as shown in FIG. 9, when the vehicle 100 is completely parked in the designated parking spot 301D, the vehicle ECU 90 operates the parking brake device 31 to hold the vehicle 100 in a stopped state, thereby performing remote parking control. exit.

Note that the terminal ECU 290 stops transmitting the travel permission signal to the outside when the user releases the finger from the display 220 of the operation terminal 200 . As a result, the vehicle ECU 90 no longer receives the travel permission signal. When the vehicle ECU 90 stops receiving the travel permission signal, the vehicle ECU 90 controls the operation of the braking device 22 to temporarily stop the host vehicle 100 .

<Remote delivery control>
In addition, when a predetermined touch operation for requesting execution of remote garage leaving control is applied to the display 220 while the remote travel application is running, the terminal ECU 290 wirelessly transmits a remote garage leaving request signal to the outside. The remote delivery request signal is a signal requesting the terminal ECU 290 to execute remote delivery control.

When the vehicle ECU 90 receives the remote garage leaving request signal, the vehicle ECU 90 executes the above-described braking function confirmation process.

When the vehicle ECU 90 determines that there is an abnormality in the braking function of the braking device 22 with respect to the own vehicle 100 as a result of executing the braking function confirmation process, the vehicle ECU 90 executes the above-described stop state holding process, and then performs remote garage exit control. Abort.

On the other hand, when the vehicle ECU 90 determines that there is no abnormality in the braking function of the braking device 22 for the own vehicle 100, the vehicle ECU 90 starts the target travel route setting process. The target travel route setting process in the remote garage leaving control is executed as follows.

For example, as shown in FIG. 10, when the vehicle 100 is parked in the parking space 301, the vehicle ECU 90 starts the target travel route setting process, and detects the surroundings of the vehicle 100 based on the surroundings detection information IS. It recognizes objects such as a wall 303 and an adjacent parked vehicle 300 .

The vehicle ECU 90 sets, as a target travel route Rtgt, the travel route of the vehicle 100 for leaving the vehicle 100 at the designated delivery location 305D based on the recognized object or the like.

After setting the target travel route Rtgt, the vehicle ECU 90 starts the exit travel process. When the vehicle ECU 90 starts the exiting traveling process and receives a traveling permission signal from the terminal ECU 290, the vehicle ECU 90 controls the operation of the vehicle traveling device 20 to cause the own vehicle 100 to travel along the target traveling route Rtgt. Specifically, the vehicle ECU 90 first causes the host vehicle 100 to move forward straight as shown in FIG. 11 . Next, as shown in FIG. 12, the vehicle ECU 90 moves the vehicle 100 forward while turning left, gradually decreasing the steering angle .theta. The host vehicle 100 is steered so that the steering angle θ becomes zero when it becomes parallel to .

Then, as shown in FIG. 13, when the vehicle 100 has left the designated parking place 305D, the vehicle ECU 90 keeps the vehicle 100 stopped by the parking brake device 31, and ends the remote parking control. .

The outline of the operation of the remote parking device 10 has been described above.

According to the remote parking device 10, when the own vehicle 100 is maintained in the stopped state for the predetermined time Tth even after the braking drive process is executed, the own vehicle 100 travels by the remote parking control. That is, when the vehicle 100 is maintained in a stopped state even after the braking drive process is executed, it is determined that there is no abnormality in the braking function of the braking device 22 for the vehicle 100, and the vehicle 100 travels under remote parking control. is carried out. As described above, according to the remote parking device 10, not only is there an abnormality in the braking function of the braking device 22 caused by an abnormality in the electrical system required for the operation of the braking device 22, but also, for example, when the braking device 22 is damaged by a brake pad or the like. Abnormalities in the braking function of the braking device 22 due to abrasion of the brake pads, etc., which are difficult to detect in the case of being composed of parts, and braking device 22 due to overloading of the own vehicle 100 Abnormality of the braking function of can also be determined. Therefore, it is possible to reliably determine that there is no abnormality in the braking function of the braking device 22 before the host vehicle 100 travels under remote parking control.

Similarly, according to the remote parking device 10, when the own vehicle 100 is maintained in the stopped state for the predetermined time Tth even after the braking drive process is executed, the own vehicle 100 travels by the remote parking exit control. be. Therefore, it is possible to reliably determine that there is no abnormality in the braking function of the braking device 22 before the host vehicle 100 travels under the remote garage exit control.

<Specific operation of the remote parking device>
Next, specific operations of the remote parking device 10 will be described. The vehicle CPU 91 of the vehicle ECU 90 of the remote parking device 10 executes the routine shown in FIG. 14 at predetermined calculation cycles. Therefore, at a predetermined timing, the process starts from step 1400 in FIG. 14, proceeds to step 1405, and determines whether or not the value of the remote parking request flag Xpark is "1". The remote parking request flag Xpark is a flag indicating whether or not execution of remote parking control has been requested. is not requested, its value is set to "0".

When the vehicle CPU 91 determines "Yes" in step 1405, the process proceeds to step 1410 and executes the routine shown in FIG. Therefore, when the process proceeds to step 1410, the vehicle CPU 91 starts the process from step 1500 in FIG. judge. The terminal authentication completion flag Xid_com is a flag indicating whether the determination of whether or not the operating terminal that has transmitted the signal requesting execution of remote parking control is the registered operating terminal (that is, authentication of the operating terminal) has been completed. , the value is set to "1" if the operation terminal has been authenticated, and the value is set to "0" if the operation terminal has not been authenticated.

When the vehicle CPU 91 determines "Yes" in step 1505, the process proceeds to step 1510 to execute the terminal authentication process. Next, the vehicle CPU 91 advances the process to step 1515 and sets the value of the terminal authentication completion flag Xid_com to "1". After that, the vehicle CPU 91 advances the process to step 1415 in FIG. 14 via step 1595 .

On the other hand, when the vehicle CPU 91 determines "No" in step 1505, the process proceeds directly to step 1415 in FIG. 14 via step 1595. FIG.

When the process proceeds to step 1415 in FIG. 14, the vehicle CPU 91 determines whether or not the operating terminal that has transmitted the signal requesting execution of the remote parking control is the registered operating terminal.

When the vehicle CPU 91 determines "Yes" in step 1415, the process proceeds to step 1420 and executes the routine shown in FIG. Therefore, when the process proceeds to step 1420, the vehicle CPU 91 starts the process from step 1600 in FIG. judge. The braking function confirmation completion flag Xmal_com is a flag indicating whether or not the determination (braking function confirmation) of whether or not there is an abnormality in the braking function of the braking device 22 for the host vehicle 100 has been completed, and indicates whether the braking function confirmation has been completed. If so, its value is set to "1", and if the braking function check has not been completed, its value is set to "0".

When the vehicle CPU 91 determines "Yes" in step 1605, the process proceeds to step 1610 to execute the braking drive process. Next, the vehicle CPU 91 advances the process to step 1615 and determines whether or not the host vehicle 100 is maintained in a stopped state.

When the vehicle CPU 91 determines "Yes" in step 1615, the process proceeds to step 1620, and determines whether or not the elapsed time (elapsed time T) after starting the braking drive process is equal to or longer than a predetermined time Tth. judge.

If the determination in step 1620 is "Yes", the vehicle CPU 91 advances the process to step 1625 and sets the value of the braking function abnormality flag Xmal to "0". The braking function abnormality flag Xmal is a flag indicating whether or not there is an abnormality in the braking function of the braking device 22 with respect to the own vehicle 100. When there is an abnormality in the braking function of the braking device 22 with respect to the own vehicle 100, the value is " The value is set to "1" and the value is set to "0" when the braking function of the braking device 22 for the own vehicle 100 is normal.

Next, the vehicle CPU 91 advances the process to step 1630 and sets the value of the braking function confirmation completion flag Xmal_com to "1". Next, the vehicle CPU 91 advances the process to step 1425 in FIG. 14 via step 1695 .

On the other hand, when the vehicle CPU 91 determines "No" in step 1620, the process proceeds directly to step 1425 in FIG. 14 via step 1695.

When the vehicle CPU 91 determines "No" at step 1615, the process proceeds to step 1635 and sets the value of the braking function abnormality flag Xmal to "1". Next, the vehicle CPU 91 advances the process to step 1640 and sets the value of the braking function confirmation completion flag Xmal_com to "1". Next, the vehicle CPU 91 advances the process to step 1425 in FIG. 14 via step 1695 .

Further, when the vehicle CPU 91 determines "No" in step 1605, the process proceeds directly to step 1425 in FIG. 14 via step 1695. FIG.

When proceeding to step 1425 in FIG. 14, the vehicle CPU 91 determines whether or not the value of the braking function confirmation completion flag Xmal_com is "1".

When the vehicle CPU 91 determines "Yes" in step 1425, the process proceeds to step 1430 and determines whether or not the value of the braking function abnormality flag Xmal is "0".

When the vehicle CPU 91 determines "Yes" in step 1430, the process proceeds to step 1435 and executes the routine shown in FIG. Therefore, when the process proceeds to step 1435, the vehicle CPU 91 starts the process from step 1700 in FIG. determine whether The target travel route setting completion flag Xroute_com is a flag indicating whether or not the setting of the target travel route Rtgt in the remote parking control is completed. The value is set to "1", and the value is set to "0" if the setting of the target travel route Rtgt in the remote parking control is not completed.

When the vehicle CPU 91 makes a "Yes" determination in step 1705, the process proceeds to step 1710, and the target travel route setting process is executed to set the target travel route Rtgt. The vehicle CPU 91 then advances the process to step 1715 .

On the other hand, when the vehicle CPU 91 determines “No” at step 1705 , the process proceeds directly to step 1715 .

Vehicle CPU91 will perform a parking run process, if a process is advanced to step 1715. FIG. Next, the vehicle CPU 91 advances the process to step 1720 and determines whether or not the parking of the own vehicle 100 at the designated parking place 301D is completed.

When the vehicle CPU 91 determines "Yes" in step 1720, the process proceeds to step 1725 and the remote parking control ends. Next, the vehicle CPU 91 advances the process to step 1730, and sets the values of the remote parking request flag Xpark, the braking function confirmation completion flag Xmal_com, the braking function abnormality flag Xmal, the target travel route setting completion flag Xroute_com, and the terminal authentication completion flag Xid_com to "0". ”. Next, the vehicle CPU 91 advances the process to step 1495 in FIG. 14 via step 1795, and ends this routine once.

On the other hand, when the vehicle CPU 91 makes a "No" determination in step 1720, the process proceeds directly to step 1495 in FIG. In this case, the parking running process is continued.

Further, when the vehicle CPU 91 determines "No" in step 1430 of FIG. 14, the process proceeds to step 1440, and the stop state holding process is executed. Next, the vehicle CPU 91 advances the process to step 1445 and stops remote parking control. Next, the vehicle CPU 91 advances the process to step 1450, and sets the values of the remote parking request flag Xpark, the braking function confirmation completion flag Xmal_com, the braking function abnormality flag Xmal, the target travel route setting completion flag Xroute_com, and the terminal authentication completion flag Xid_com to "0". ”. Next, the vehicle CPU 91 advances the process to step 1495 and terminates this routine.

Further, when the vehicle CPU 91 makes a "No" determination at step 1405, step 1415 or step 1425, the process proceeds to step 1495, and this routine is once terminated.

Furthermore, the vehicle CPU 91 executes the routine shown in FIG. 18 at predetermined calculation cycles. Therefore, at a predetermined timing, the process starts from step 1800 in FIG. 18, proceeds to step 1805, and determines whether or not the value of the remote delivery request flag Xout is "1". The remote delivery request flag Xout is a flag indicating whether or not execution of remote delivery control is requested. When execution of remote delivery control is requested, its value is set to "1", and remote delivery control is executed. is not requested, its value is set to "0".

When the vehicle CPU 91 determines "Yes" in step 1805, the process proceeds to step 1810 and executes the routine shown in FIG. 15 described above. In this case, the vehicle CPU 91 determines in step 1505 whether or not the value of the terminal authentication completion flag Xid_com is "0". A flag indicating whether or not the determination of whether or not the operation terminal that has transmitted the request signal is the registered operation terminal (that is, authentication of the operation terminal) has been completed, and when the authentication of the operation terminal has been completed , its value is set to "1", and its value is set to "0" if the authentication of the operating terminal has not been completed.

After executing the process of step 1810, the vehicle CPU 91 advances the process to step 1815, and determines whether or not the operating terminal that has transmitted the signal requesting execution of the remote garage leaving control is the registered operating terminal.

When the vehicle CPU 91 determines "Yes" in step 1815, the process proceeds to step 1820 and executes the routine shown in FIG. 16 described above.

After executing the process of step 1820, the vehicle CPU 91 advances the process to step 1825 and determines whether or not the value of the braking function confirmation completion flag Xmal_com is "1".

When the vehicle CPU 91 determines "Yes" in step 1825, the process proceeds to step 1830, and determines whether or not the value of the braking function abnormality flag Xmal is "0".

When the vehicle CPU 91 determines "Yes" in step 1830, the process proceeds to step 1835 and executes the routine shown in FIG. Therefore, when the process proceeds to step 1835, the vehicle CPU 91 starts the process from step 1900 in FIG. determine whether In this case, the target travel route setting completion flag Xroute_com is a flag indicating whether or not the setting of the target travel route Rtgt in the remote garage exit control has been completed. In this case, the value is set to "1", and the value is set to "0" if the setting of the target travel route Rtgt in the remote garage leaving control has not been completed.

When the vehicle CPU 91 makes a "Yes" determination in step 1905, the process proceeds to step 1910 and executes target travel route setting processing to set the target travel route Rtgt. The vehicle CPU 91 then advances the process to step 1915 .

On the other hand, when the vehicle CPU 91 determines “No” at step 1905 , the process proceeds directly to step 1915 .

When the vehicle CPU 91 advances the process to step 1915, the vehicle CPU 91 executes the leaving running process. Next, the vehicle CPU 91 advances the process to step 1920, and determines whether or not the vehicle 100 has finished leaving the designated delivery location 305D.

When the vehicle CPU 91 determines "Yes" in step 1920, the process proceeds to step 1925, and the remote garage leaving control ends. Next, the vehicle CPU 91 advances the process to step 1930, and sets the values of the remote parking request flag Xout, the braking function confirmation completion flag Xmal_com, the braking function abnormality flag Xmal, the target travel route setting completion flag Xroute_com, and the terminal authentication completion flag Xid_com to "0". ”. Next, the vehicle CPU 91 advances the process to step 1895 in FIG. 18 via step 1995, and once terminates this routine.

On the other hand, when the vehicle CPU 91 makes a "No" determination in step 1920, the process proceeds directly to step 1895 in FIG. In this case, the leaving running process is continued.

Further, when the vehicle CPU 91 determines "No" in step 1830 of FIG. 18, the process proceeds to step 1840, and the stop state holding process is executed. Next, the vehicle CPU 91 advances the process to step 1845 to stop the remote garage leaving control. Next, the vehicle CPU 91 advances the process to step 1850, and sets the values of the remote parking request flag Xout, the braking function confirmation completion flag Xmal_com, the braking function abnormality flag Xmal, the target travel route setting completion flag Xroute_com, and the terminal authentication completion flag Xid_com to "0". ”. Next, the vehicle CPU 91 advances the process to step 1895 and ends this routine once.

Further, when the vehicle CPU 91 makes a "No" determination at step 1805, step 1815 or step 1825, the process proceeds to step 1895, and this routine is once terminated.

The above is the specific operation of the remote parking device 10 .

The present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

DESCRIPTION OF SYMBOLS 10... Remote parking apparatus, 20... Vehicle driving apparatus, 21... Driving apparatus, 22... Braking apparatus, 23... Steering apparatus, 24... Transmission apparatus, 30... Stop holding apparatus, 31... Parking brake apparatus, 70... Peripheral information detection apparatus , 80... Vehicle receiving/transmitting device 90... Vehicle ECU 200... Operation terminal 301D... Designated parking place

Claims (2)

A remote parking device that controls the operation of a driving device that applies a driving force to the own vehicle to drive the own vehicle, and the operation of a braking device that applies a braking force to the own vehicle to brake the own vehicle. A remote parking device that executes remote parking control for automatically controlling the operation of the driving device and the braking device in response to a command from the outside of the own vehicle to park the own vehicle in a designated parking space. ,
executing a braking drive process of applying the driving force from the driving device to the own vehicle while applying the braking force to the own vehicle from the braking device before causing the own vehicle to travel by the remote parking control; When the own vehicle is maintained in a stopped state until a predetermined time elapses after the start of processing, the own vehicle is configured to run under the remote parking control.
Remote parking device. 2. The remote parking device of claim 1, wherein
configured to control the operation of a vehicle stop holding device that holds the own vehicle in a stopped state,
When the own vehicle runs without being maintained in a stopped state during the period from the start of the braking drive process until the predetermined time elapses, the vehicle stop holding device holds the own vehicle in a stopped state. configured to
Remote parking device.

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